#pragma once

#include "main.h"
#include "device/encoder_oid.h"
#define JOINT_NUM 6

//关节结构体
typedef struct {

  struct{
    ECD_OID_t* encoder;
  }sensor;

  struct {
    float angle_limit[2];
    float last_angle;
    int circles;
    float last_control_time;
  }status;//关节状态

  struct {
    float velocity;
    float position;
  }feedback;//反馈

}joint_t;


typedef struct{
  struct {
    struct {
      ECD_OID_Param_t param;
    }sensor;

    float angle_limit[2];
  }joint[JOINT_NUM];
}arm_param_t;



//机械臂结构体
typedef struct
{
  joint_t joint[JOINT_NUM];
  struct {
    uint8_t cmd_prepare;
    uint8_t busy;
    uint8_t step;
    uint8_t path_finish;
  }status;


}arm_t;